Industrial Mobile Robots

Safety Standard Update

Michael Gerstenberger
Chair
R15.08 Subcommittee
Outline
• Background
• Definitions and examples
• Existing standards
• Key questions/topics
• Participation
Speaker Background
• 31 years experience in robotics industry
– GMF Robotics (now FANUC)
– KUKA Robotics
• Robot safety standards committees
– RIA R15.06
– RIA R15.08 (chair)
– ISO TC 299/WG 3
– UL STP 1740
– CSA Z434
R15.08 Subcommittee Background
• Exploratory meeting 16Jul2015
• R15 Standards Approval Committee
authorized formation of R15.08 6Nov2015
• R15.08 meeting #1 14-15Jul2016
• R15.08 meeting #2 21Oct2016
Outline
• Background
• Definitions and examples
• Existing standards
• Key questions/topics
• Participation
Definitions: Robot
• http://www.merriam-webster.com: a
mechanism guided by automatic controls
• ISO 8373:2012: actuated mechanism
programmable in two or more axes with a
degree of autonomy, moving within its
environment, to perform intended tasks
Definitions: Industrial Robot
ANSI/RIA R15.06-2012 (ISO 10218-1:2011):
automatically controlled, reprogrammable
multipurpose manipulator, programmable in
three or more axes, which can be either fixed
in place or mobile for use in industrial
automation applications
Definitions: Robot
UL 1740: Automatically controlled,
reprogrammable multipurpose machine,
programmable in several degrees of
freedom, which can be either fixed in place
or mobile
 Examples

Source: National Institute of Standards and

Technology
 Examples

Source: KUKA Laboratories, GmbH

https://commons.wikimedia.org/wiki/File:KUKA_omniRob.jpg
 Examples

Source: KUKA Robotics

https://www.youtube.com/watch?v=p6NwH3G0V6Y
 Examples

Source: Boston Dynamics

https://www.youtube.com/watch?v=rVlhMGQgDkY
 Examples

Source:
https://www.youtube.com/watch?v=iyZE0psQsX0
Outline
• Background
• Definitions and examples
• Existing standards
• Key questions/topics
• Participation
Existing Standards
ANSI/RIA R15.06-2012 (ISO 10218-1:2011)
– 3.10 Industrial robot, NOTE 3 – The following devices
are considered industrial robots for the purpose of
this standard:
• …
• the manipulating portions of mobile robots
• …
Existing Standards
B56.5 Safety Standard for Automatic Guided
Industrial Vehicles and Automated Functions
of Manned Industrial Vehicles
– Doesn’t address the hazards typically present with an
industrial robot
– Language tailored to vehicles that follow a prescribed
path
Existing Standards
• EN 1525 Safety of industrial trucks.
Driverless trucks and their systems
• EN1526 Safety of industrial trucks.
Additional requirements for automated
functions on trucks

• ISO 3691-4 Driverless industrial trucks and

their systems (Committee draft)
Existing Standards
ISO 13482:2014 Safety requirements for
personal care robots
– Type 1.2: Mobile servant robot with manipulator
– Specifically excludes industrial robots
Existing Standards
ISO TS 15066:2016 Robots and Robotic
Devices – Collaborative Robots
– Safety-rated monitored stop
– Hand-guiding
– Speed and separation monitoring
– Power and force limiting
– Silent on the topic of mobility
 Existing Standards: NIST Report
Towards Mobile Manipulator Safety
Standards (Marvel & Bostelman, NIST,
October 2013)
– Gaps
– Differences
• Definitions
• Requirements

https://www.nist.gov/node/578191
Outline
• Background
• Definitions and examples
• Existing standards
• Key questions/topics
• Participation
Key Issues: Safety Strategies
• Traditional industrial robot safety
– Separation of operator from hazards
– Fencing, light curtains
• AGV safety
– Well-defined paths
– Awareness means
– Bumpers, scanners
– Training
Key Issues
• Mobility
• Integrated vs. isolated controllers
• Requirements
– Components
– Interfaces
– System
Key Questions
• New standard vs. modifications to existing
standards
• Framework for decision
Key Questions: Scope
• What is “industrial”?
– Manufacturing only?
– Distribution?
– Commercial?
• Mobility environment
– Airborne
– Waterborne (on/under)
– Indoor/outdoor
• Mobility modality
– Wheels
– Tracks
– Legs
Key Questions: HRI
• How to deal with human-robot interaction
• Trained personnel vs. “the public”
– Grocery stores
– Stockroom vs. stocking shelves
– Hospitals
Key Questions: Safety Performance
• Industrial robots
– PL d with structure category 3
– SIL 2 with hardware fault tolerance 1
• Personal care robots
– PL d (no structure specified)
– Lower PL for small and slow and light and no arm
• AGVs
– Safety performance not specified in B56.5
Key Questions: Error Recovery
• Per R15.06, violation of the safeguarded
space requires restart from outside cell
• Per B56.5, automatic restart after obstacle
removed
Key Questions: Stability
• Static load due to arm position
• Dynamic load due to arm motion
• Legs, 2 wheels (Segway), 1 wheel (Ballbot)
Strategies
Framework for decision on new standard vs.
revising related standards
– Committee members reviewing related standards
– May consider workload of committees responsible for
related standards
– Related standards: base of people familiar with
requirements vs.
– New standard: one stop shop for requirements
Strategies
• Use profiles, e.g.
– Material handling with load/unload
– Processing large parts

• Simultaneous vs. independent motion

– Arm only moves when base doesn’t
– Coordinated arm/base motion
Strategies
• Separate manufacturer requirements from
integrator/user requirements
– Similar to R15.06-2012, B56.5
– Alternatively, base/arm requirements
• Equipment span of control
– Common controller for arm and base
– Separate controllers; communication & interface
requirements
Outline
• Background
• Definitions and examples
• Existing standards
• Key questions/topics
• Participation
Participation
• RIA standards development open to all
interested parties
• Contact:
– Carole Franklin, RIA Director of Standards
Development
– cfranklin@robotics.org
Contact Information

Michael Gerstenberger
Chair
R15.08 Drafting Subcommittee
Mountain View, California USA

Telephone: +1 (650) 762-6890

R15.08@GerstenRobotics.com